Apparatus and Process for Drone Locating, Interdiction and Recovery

ABSTRACT

An integrated airspace defense system for identifying and locating a suspicious unmanned aerial vehicle. The system including at least one detection device to monitor the air space and provide a detection information; a computer to process the detection information and identifying the presence of suspicious unmanned aerial vehicles (UAVs) using a sequence of detection algorithms. The integrated airspace defense system identifies and locates the suspicious UAV. In at least one embodiment the integrated airspace defense system is capable of capturing or destroying the suspicious UAV.

PRIORITY

The present application is a divisional of U.S. application Ser. No.17/171,340 filed 2021 Feb. 9 which in turn claims priority to U.S.Provisional Application Ser. No. 63/012,340, filed 2020 Apr. 20, both ofwhich are expressly incorporated herein by reference.

RIGHTS OF THE GOVERNMENT

The invention described herein may be manufactured and used by or forthe Government of the United States for all governmental purposeswithout the payment of any royalty.

FIELD OF THE DISCLOSURE

Disclosed is an integrated defensive system to defend an area on land orsea from hostile or unauthorized small Unmanned Aerial Systems (sUAS),and are referred to herein as Unmanned Aerial Vehicles (UAV) or drones,using apparatus and/or process for drone locating, interdiction andrecovery. The system includes UAV detection, capture or destruction, andrecovery.

SUMMARY OF THE INVENTION

The system includes a detection device also known as the “Panotect”, andan interdiction drone also known as the “Stone Drone.” The interdictiondrone may be configured with an armored shell. Alternatively a netcapture system may be used with a pursuit drone. An accompanying beacondevice illustrates a unique aspect of the drone defensive systemrecovery.

The disclosed Apparatus and Process for Drone Locating, Interdiction andRecovery may include the integration of the systems disclosed hereinincluding an integrated airspace defense system (IADS) for identifyingand locating a suspicious unmanned aerial vehicle, the system includingat least one detection device to monitor the air space and provide adetection information and a computer to process the detectioninformation and identifying the presence of suspicious unmanned arealvehicles (UAVs) using a sequence of detection algorithms. The integratedairspace defense system is designed to identify and locate thesuspicious UAV. The detection device is at least one wide-field of viewcamera; the camera connected to a computer controlled pan tilt unit. Thepan tilt unity may further including a at least one targeting cameraco-aligned to operate with a laser range finder; and wherein thedetection information includes at least one image.

The integrated airspace defense system may interdict and capture thesuspicious UAV with a capture UAV and the capture UAV may include a netsystem assembly having at least one net and a Cross Frame connected to aspindle by a first side panel and a second side panel, such that thespindle may rotate and deploy at least one net upon a command using apower and control connector. The spindle rotation enabled by a rotationservo, the spindle further including an attachment means wherein the atleast one net is operably releasable from the spindle; and a firstattachment bracket and a second attachment bracket wherein the bracketsare separated and operably connected to the capture UAV and wherein thedeployed net entangles the suspicious UAV. The deployed net may thensubsequently released from the capture UAV. The attachment means may bemagnets. A second net may then be deployed to capture a secondsuspicious UAV.

A recovery locator beacon (recovery beacon or beacon) may be attached tothe net for locating the entangled suspicious UAV. The recovery beaconmay include a protective housing, a spring contact switch, and or arip-away cord such that when deployed the spring contact electricallyconnects a connecting circuitry with a power source such that therecovery beacon may be activated. The recovery beacon rip-away cord mayinclude an attachment loop. The recovery beacon may in one embodimentinclude exterior lights that are powered on when the recovery beacon isactivated, in one embodiment using a power switch. The recovery beaconmay further include a test button and/or a test indicator light toassist in recovery. The recovery beacon may further include a siren toassist in recovery. The recovery beacon may further include a radiofrequency antenna for transmitting a signal that is designed to assistin recovery.

The integrated airspace defense system (IADS) may in one embodimentincapacitate the suspicious UAV with an interdiction (stone or stonedrone) UAV. The interdiction UAV may include a stone frame, at least onebattery a wireless charging capability. The battery operably connectedto at least one motor to drive at least one propeller using anelectronic control unit and a power distribution board, a globalpositioning system (GPS) antenna, an optical camera capable of autopilotconnected through a radio link; and an armored shell. The shell beingoperably designed to remove from the airspace the suspicious UAV uponcontact. In one embodiment the suspicious UAV airspace removal isperformed with a kinetic impact of the interdiction UAV with thesuspicious UAV.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is an illustration of a drone detection device;

FIG. 1B is an illustration of the drone detection device optical widefield of view cameras;

FIG. 1C is an illustration of the drone detection device moveablehousings including the pan tilt housing and pan base;

FIG. 1D is an illustration of the drone detection device camera andrange finder;

FIG. 2A is an illustration of the net system assembly;

FIG. 2B is an exploded illustration of the net system assembly withseparated net;

FIG. 2C is an illustration of a pursuit drone equipped with a net systemassembly;

FIG. 2D is an illustration of a pursuit drone equipped with a net systemassembly capturing a drone.

FIG. 3A is an illustration of the interdiction “stone” drone;

FIG. 3B is an exploded illustration of the “stone” drone elements;

FIG. 3C is another exploded illustration of the “stone” drone elementswith armored shell;

FIG. 4A is an illustration of a recovery beacon;

FIG. 4B is an exploded illustration of a recovery beacon;

It should be understood that the appended drawings are not necessarilyto scale, presenting a somewhat simplified representation of variousfeatures illustrative of the basic principles of the invention. Thespecific design features of the sequence of operations as disclosedherein, including, for example, specific dimensions, orientations,locations, and shapes of various illustrated components, will bedetermined in part by the particular intended application and useenvironment. Certain features of the illustrated embodiments have beenenlarged or distorted relative to others to facilitate visualization andclear understanding. In particular, thin features may be thickened, forexample, for clarity or illustration.

DETAILED DESCRIPTION OF THE INVENTION

A drone detection system, also known as the “Panotect”, providesSecurity Forces (SF) and other defense and law enforcement personnel aquick and effective solution for detecting, identifying, and trackingsmall Unmanned Aerial Systems (sUAS). Small UASs are categorized asclass I and II drones (under 55 lbs), and are referred to herein as UAVsor drones. Without a drone detection system in place, there is no methodfor notifying when these small UAVs fly onto bases or into other secureareas. Currently, of the suggested methods for detecting and identifyingthe growing threat of hostile UASs, many are impractical for a varietyof reasons, including cost of scaling a system or limited detectionranges. This system solves these issues and can be placed aroundmilitary bases, government installations, or integrated as a componentto a wide range of defense networks; multiple systems can be linkedtogether to cover a larger area. This system is also able to be mountedon a mobile platform such as a vehicle for convoy protection.

FIG. 1A shows a drone detection device 101. An installed drone detectionsystem may include one or more drone detection devices 101 deployed asneeded to provide coverage and monitor a protected air space (not shown)from hostile UAVs. The detection device 101 may be stationary or mobile.The drone detection device 101 may include a computer-controlledpan-tilt unit (PTU) housing 131. The drone detection device 101 mayfurther include one or more of the wide field of view cameras 111.

FIG. 1B illustrates an embodiment of one arraignment envisionedincluding and internal ring of wide field of view optical cameras 111. Acomputer (not shown) may be connected to the cameras to processes cameraimages with a sequence of detection algorithms to determine if a hostileUAV is present.

FIG. 1C shows a computer-controlled pan-tilt unit (PTU) housing 131. ThePTU housing 131 includes a palming base 141 that allows the PTU 131 topan (left and right) and tilting side panels 164 and 165 that allow thePTU 131 to tilt (up and down).

In one embodiment the PTU 131 may include at least one targeting camera121 that is coaligned with a laser rangefinder 122 as shown in FIG. 1D.The targeting camera 121 may have a narrow field of view or otherwiseadapted to operationally function with the laser range finder 122.

The process of initial detection begins when a target is detected by oneor more of the wide field of view cameras 111. A computer connected tothe cameras processes the images with a sequence of detection algorithmsto determine a possible target. Night detections are possible due to thecommon use of onboard lighting on UAV systems, necessary for the remotepiloting and/or navigation of the UAV. Once a possible hostile UAV isdetected, its heading and elevation angle are passed to acomputer-controlled pan-tilt unit (PTU) 131. The PTU is equipped withthe narrow field-of-view camera 121 that is co-aligned with the laserrangefinder 122. The imagery from the narrow field-of-view camera 121,along with a second set of optical detection algorithms, is used toprovide fine control to the PTU so that the laser rangefinder can get anaccurate range measurement of the hostile UAV. The computer uses theazimuth, elevation, and range of the target to determine its position ina global coordinate frame. The target position, speed, and size are usedto differentiate between UAVs and clutter such as birds, clouds, planes,etc. through the combination of passive and active optical detection.After a target is detected, tracked, and characterized as a hostile UAV,the computer transmits the target information to alert defense personnelor automated defensive systems of the target.

The individual components and materials can be swapped out foralternatives, allowing different configurations and upgrades. Combinedwith an effective UAV engagement solution, this system can protectinstallations and bases, both permanent and rapidly constructed. Thissystem can also be employed to identify hostile UAVs for convoys anddismounted personnel, important buildings, stadiums, and public spaces.The power for the detection system can either be provided by anelectrical battery in the case of a temporary or vehicle-mounted systemor connected to mains power as a more permanent solution.

This system uses a passive optical detection cycle followed by activeoptical tracking. Prior systems used sensors other than optical camerasfor primary detection, and optical detection was cited as incapable ofreliable and precise detection of UAVs. This system demonstrates opticaldetection is as capable as and less expensive than alternative detectionmethods, primarily radar systems.

Net & Spindle

Interdiction of hostile small Unmanned Aerial Systems (sUAS) may beperformed with a modified or dedicated airborne platform. Small UASs arecategorized as class I and II drones (under 55 lbs), and may be referredto herein as Unmanned Aerial Vehicles (UAVs) or drones. One such methodfor interdiction and capture is with an entangling net, suspended from aspindle system.

As shown in FIG. 2A, a net system assembly 200 may be attached to thedefending UAV, below the rotors 515 and above the landing gear 520 (SeeFIG. 2C). The net system assembly 200 may be used to stop intrudingsmall UAVs by entangling them in a net 290 when flown into theirpropellers or lifting surfaces. With the use of multiple rolleddeployable nets 290, the net system assembly 200 may engage multipleintruding UAVs.

As shown in FIG. 2A, the net system assembly 200 is supported by a crossframe 220 and connects to its capture UAV through attachment brackets241 and 242, and supports the rest of the spindle with side panels 251and 252. Power and control are passed through connector 230, wherein thebrackets 241 and 242 are separated and together operably connected tothe UAV. The frame 220 and side panel components 251 and 252 areconnected to a spindle 270 by such that a spindle 270 may rotate andrelease on command a net 290.

FIG. 2B shows the spindle 270 attaching to the frame assembly, androtation may be enabled by a rotational servo 260. The spindle 270further includes spindle magnets 280 which attach to the net magnets285, wherein the net(s) 290 is operably releasable from the spindle 270,when driven by the rotational servo 260.

The FIG. 2B cross frame 220 and connects to its capture UAV throughattachment brackets 241 and 242, and supports the rest of the spindlewith side panels 251 and 252. Power and control are passed throughconnector 230, wherein the brackets 241 and 242 are separated andtogether operably connected to the UAV. The frame 220 components areconnected to a spindle 270 by such that a spindle 270 may rotate andrelease on command a net 290.

In one embodiment the spindle 270 of FIG. 2B may have one or more modesof operation including for example loading and unfurling/entangling.During loading operations, the spindle 270 counter-rotates, and the netmagnets 285 attached to the spindle magnets 280 and to subsequent netmagnets, loading in succession. The spindle 270 maintains the net(s) 290in a loaded and rolled up configuration during stand-by and transitflight (See FIG. 2C). When the capture UAV is pursuing a target, thefirst net 290 is unfurled to its full length by rotating the spindle270. Once the target is engaged, the net 290 will detach automaticallyfrom the net magnets 285 separating, and then the next net (290A FIG.2D) on the spindle 270 may be unfurled as needed.

In one embodiment, the net system assembly 200 hangs below the captureUAV (See FIG. 2C) to be above and out of the way of the landing gear,and below and out of the way of the rotors/propellers 515. The crossframe 220 keeps the main structure sturdy and enables spindle operationsand rotations without pinching. The net assembly connects to the captureUAV through attachment brackets 241 and 242, with power and controlthrough connector 230. In this manner the net system assembly can beconnected and disconnected from the capture UAV for configuration andmaintenance (not shown).

As shown in FIG. 2C capture drone 510 includes capture drone rotors 515which are mounted above the net system assembly 200 to keep the net 290away from the capture drone rotors 515. Landing gear 520 are designed toalso keep the net 290 away from the capture drone rotors 515 and off thelanding surface, allowing the landing gear to touch down first, leveland such that the net remains its distance from the capture drone rotors515.

FIG. 2D illustrates a capture drone 510 with rotors 515 immediatelyafter netting a hostile drone 600 is entangled in a net 290 have arecovery beacon 400 attached by attachment loop 406, the recovery beacon400 trailing the rip-away cord 403. Further illustrated is a second net290A ready to deploy from the net system assembly 200 in the pursuit ofother hostile drones (not shown).

The system uses common light-weight materials, the specifics for theframe and net material depend upon the size desired and the speed ofengagement. The individual components and materials can be swapped outfor alternatives, allowing different configurations and upgrades. Theconfiguration of the capture UAV may use UAV components, includingframes, controllers, motors, autopilot systems, additional computercontrollers, cameras, and associated software (none shown). Theindividual components and materials can be swapped out for alternativesas improvements and upgrades in drone technology allow. Initialconfiguration of the capture UAV include an airborne platform based upona modified DJI S1000 using a Pixhawk autopilot, an onboard Raspberry Picomputer to interface with the autopilot and communications, a firstperson vision (FPV) camera for flight control, and the Drone kit API tocreate precision guidance system. The capture UAV with net assemblysystems can be pre-positioned around an installation for rapidinterception of intruding hostile UAVs. Prior UAV interception devicesrelied on static or single use net systems; this system improves theusage for multiple encounters.

As shown in FIG. 3A, FIG. 3B and FIG. 3C the capture drone 300 mayinclude a Frame 311, Batteries 312, Wireless Charging 313, one or moremotors 314, one or more propellers 315, one or more electronic controlunits 316, at least one power distribution board 317, a GPS antenna 322,an optical camera 323, a radio link 324, a microcontroller 325, and anautopilot 326, all operably connected as known in the art. Thecomponents preferably are of sufficient lifting power to carry the netsystem and overtake or intercept the target drone. Further, as shown inFIG. 3B and FIG. 3C the capture UAV 300 may be hardened with an armoredshell 321 (FIG. 3C) to enable repeat uses of primary systems.

Interdiction Drone

An interdiction drone, also known as the “Stone Drone”, providesSecurity Forces (SF) and other defense and law enforcement personnel aquick and effective solution to intruding small Unmanned Aerial Systems(sUAS). Small UASs are categorized as class I and II drones (under 55lbs), and shall be referred to herein as Unmanned Aerial Vehicles (UAVs)or drones. Without a system in place, there is nothing to stop thesesmall drones from coining onto bases or into secure areas, anddisrupting operations, gathering intelligence, or delivering hazardouspayloads to soft targets. These interdiction drones may be placed aroundmilitary bases, government installations, or built into convoyoperations to provide dismounted soldiers protection in the field. Thisinterdiction drone uses a simple approach, using a kinetic strike toengage a potential or confirmed hostile threat, and eliminating thehazard before there is injury, accident, or casualty.

FIG. 3A is an illustration of the interdiction drone 300. FIG. 3B andFIG. 3C are an exploded illustration of a stone drone 300 showing thevarious components including a frame 311, preferably optimized forspeed, coupled with motors 314 and propellers 315. The power source isan electrical battery 312, which uses wireless charging 313 while in thestored, stand-by state. The electricity is distributed through a powerdistribution board 317, and each motor is controlled by an associatedelectronic control unit 316. These components represent a high-speeddrone set up, and can be built using common industry components; highspeed operations may be preferred to pursue and overtake potentialtargets and provide enough kinetic impact force to de-flight thetargets. Together these components would enable high speed, quickagility pursuit.

On top of this frame is an armored shell 321 as illustrated in FIG. 3C,containing the controller and input parts. The central piece is themicrocontroller 325, which handles all the computation and processingfor the drone. Guidance is directed by the GPS antenna 322, andinstructions and directions come in through the radio link antenna 324,which also transmits images and status updates to the ground station.The microcontroller receives images through the camera 323, andcommunicates to the autopilot 326.

During a standard operation, the interdiction (stone) drone 300 wouldreceive a go signal from the ground station, with the location of theintruding hostile drone to fly to and intercept. Powering up, the drone300 would lift off and begin flying to the intercept area. Once at anominal distance, the microcontroller would begin processing images,searching for the intruding target based upon characteristics passed onfrom the ground station. One key characteristic of the search is thecamera 323 facing upward, to detect the hostile drone against the skybackground, rather than tracking against ground or horizon clutter.Images and status updates are transmitted back to the ground station,and the interdiction drone can receive further guidance updates while inflight. Once the hostile drone is detected, identified, and tracked, themicrocontroller would begin updating the autopilot with directions, inturn guiding the drone into the path and colliding with the intruder. Athigh speed, this kinetic collision would be enough to damage andde-flight a hostile drone. The armored shell 321 would protect thesensitive components inside, allowing for multiple uses from theseparts, but all of the components are selected and priced to enabledisposable operations if necessary. The drone can remain in its stand-byhousing until needed, receiving necessary electrical power through itscharging pad until it is used.

The armored shell 321 may be made of any material known in the artincluding aluminum, steel, plastic, and fiber composite. The armoredshell 321 is preferably strong enough to disable a hostile drone onimpact and preferably protect the vital components of the delivery drone300 (FIG. 3A) from disabling damage while maintaining proper flightcharacteristics including high speed and maneuverability.

The interdiction drone 300 may have individual components and materialsswapped out for alternatives, allowing different configurations andupgrades to be implemented into the defensive shield. The kineticsolution is preferable to other systems and products that either usedillegal (RF jamming, Lasers) or overly complicated, and represents thesimplest and fastest resolution to an intruding threat. With anaccompanying detection device as discussed above and as part of anintegrated defensive UAV system, the interdiction drone may protect anyand all installations and bases, both permanent and rapidly constructed,as well as convoys and dismounted personnel, from the threat ofattacking sUASs/UAVs. This system can also be employed on a much largercommercial scale, protecting important buildings, stadiums, and publicspaces.

Recovery Beacon

Recovery of downed and netted suspicious (hostile) small Unmanned AerialSystems (sUAS), also referred to herein as Unmanned Aerial Vehicles(UAVs) and drones, may be assisted by the use of a beacon device. Asshown in FIG. 4A, presented in an exploded illustration in FIG. 4B, arecovery beacon 400 provides location and detection of the de-flightedUAVs brought down by the methods and apparatus discussed above. Thebeacon 400 enables Security Forces (SF) and other responders to quicklyand accurately identify and locate an object, day or night, in allweather conditions and in all environments. The initial use is to locatedowned intruding UAVs when captured, such as illustrated above with areleasable net.

As shown in FIG. 4A and exploded illustration FIG. 4B the recoverybeacon 400 is built on a protective housing 401. Inside is a powersource 405 and electronic circuitry 404, connecting the power with atriggering mechanism including a spring contact switch 402, powering therecovery beacon when a rip cord 403 is pulled away from the springcontact switch 402. When the rip cord is ripped away it is designed tocomplete a contact circuit with spring contact switch 402 and activatesthe recovery beacon 400.

An arming mechanism may include a recessed power switch 408, and/or atest button 409 and test light 410 to verify the beacon will activatewhen deployed.

An alarm system may include a plurality of exterior lights 407, set upto enable visual location, day and night, no matter what orientation thebeacon lands in. The exterior lights 407 may be light emitting diodes(LED), which can be infrared (IR) LEDs if covert recovery is desired. Inaddition, there are several modules that can be attached, depending uponmission and location needs, including a siren 411 and an RF antenna 412Aand transmitter 412B (two configurations shown). An opposing attachmentloop 406 may be used to secured the recovery beacon 400 to a fall awaynet 290 (FIG. 2D) to a subsequent fall away net 290A or other capturedevice (not shown).

In one embodiment, an attachment loop 406 sticks out from the case 401,allowing the recovery beacon to be securely connected to a net 290 orother system. To arm the beacon 400, there may be a recessed powerswitch 408. To assist in verifying the arming, if the rip cord 403 is inplace with the contact switch 402 (i.e. the beacon is in place but notactivated/sounding), the test button 409 and/or test light 410 may beused to verify the beacon will activate when deployed. On the exteriorof the beacon, multiple exterior lights 407 are set up to enable visuallocation, day and night, no matter what configuration the beacon landsin. IOE the exterior lights are light emitting diodes (LED), which canbe infrared (IR) LEDs if covert recovery is desired. In addition, thereare several modules that can be attached, depending upon mission andlocation needs, including a siren 411 and an RF antenna and transmitter412 (two configurations shown).

To use the recovery beacon 200, batteries 405 may be inserted and theselected locator module (411 and/or 412) may be connected. With thepower switch 408 off the rip cord 403 is linked to the spring clip 402through a net 209 or strut (not shown) (ex. the surface the beacon andnet will detach from). The opposing attachment loop 406 is secured tothe associated fall-away net 409 or other releasing device (not shown).The power switch 408 is turned on, and the beacon 400 can be verifiedeverything is working by pressing test button 409 and checking the testlight 410. The beacon is now armed and ready to be used. In its currentstand by configuration, it can remain deployed on the net system untilit is used in an engagement. When in use, when a net 290 entangles withan intruding UAV and separates from the net system assembly 200, therecovery beacon's rip cord 403 will be pulled from the spring clip 402,completing the electrical circuit. The external lights 407 and locatingmodule 411 or 412 will be exciting, allowing recovery personnel tolocate the beacon for recovery.

The recovery beacon 400 was created after feedback from SF personnel andother responders, describing the problems and challenges faced whentrying to locate a downed UAV after an intrusion engagement. Therecovery beacon may provide several forms of notification, includingvisual and auditory, enabling both location identification and hazardwarning for responders. It is built with common circuitry elements, butthe whole package hasn't been put together before nor has a similardevice been used in the field for recovery aspects. The beacon can bemade with alternative materials and components, enabling flexibleconfigurations, while the same mission effects can be reached. Withalternative triggering mechanisms, the beacon can be used in a widerrange of scenarios, such as an impact trigger to help recover friendlyUASs following a crash, or identifying where friendly resupply packagesare located in field.

While the present invention has been illustrated by a description of oneor more embodiments thereof and while these embodiments have beendescribed in considerable detail, they are not intended to restrict orin any way limit the scope of the appended claims to such detail.Additional advantages and modifications may readily appear to thoseskilled in the art. The invention in its broader aspects is thereforenot limited to the specific details, representative apparatus andmethod, and illustrative examples shown and described. Accordingly,departures may be made from such details without departing from thescope of the general inventive concept.

We claim:
 1. An integrated airspace defense system for identifying andlocating a suspicious unmanned aerial vehicle, the system including: atleast one detection device to monitor the air space and provide adetection information; a computer to process the detection informationand identifying the presence of suspicious unmanned aerial vehicles(UAVs) using a sequence of detection algorithms; the integrated airspacedefense system identifies and locates the suspicious UAV; wherein theintegrated airspace defense system incapacitates the suspicious UAV withan interdiction UAV; the interdiction UAV including: a stone frame; atleast one battery; a wireless charging capability; the battery operablyconnected to at least one motor to drive at least one propeller using anelectronic control unit and a power distribution board; a globalpositioning system (GPS) antenna; an optical camera capable of autopilotand connected through a radio link; and an armored shell, the shelloperably designed to remove from the airspace the suspicious UAV uponcontact.
 2. The integrated airspace defense system claim 2 wherein thesuspicious UAV airspace removal is performed with a kinetic impact ofthe interdiction UAV with the suspicious UAV.